ROS Bridge Update

simulation_host.py

@@ -208,12 +208,28 @@ class DroneSimulator:
             
             try:
                 command = json.loads(data.decode('utf-8'))
+                
+                # Drone control commands
                 self._last_command = {
                     'thrust': float(command.get('thrust', 0.0)),
                     'pitch': float(command.get('pitch', 0.0)),
                     'roll': float(command.get('roll', 0.0)),
                     'yaw': float(command.get('yaw', 0.0))
                 }
+                
+                # Rover position update (if provided)
+                if 'rover' in command:
+                    rover_data = command['rover']
+                    new_x = float(rover_data.get('x', self._rover_pos[0]))
+                    new_y = float(rover_data.get('y', self._rover_pos[1]))
+                    new_z = float(rover_data.get('z', self._rover_pos[2]))
+                    self._rover_pos = [new_x, new_y, new_z]
+                    p.resetBasePositionAndOrientation(
+                        self._rover_id,
+                        self._rover_pos,
+                        [0, 0, 0, 1]
+                    )
+                    
             except (json.JSONDecodeError, ValueError) as e:
                 print(f"Invalid command received: {e}")